System and method for controlling an equipment related to image capture

ABSTRACT

A method and system for controlling a setting of an equipment related to image capture comprises capturing position data and orientation data of a sensing device; determining position information of a region of interest (i.e. a node) to be treated by the equipment, relative to the position and orientation data of the sensing device; and outputting a control signal directed to the equipment, in order to control in real-time the setting of the equipment based on said position information of the region of interest.

FIELD

The present invention relates to the field of motion tracking incamera-use environments. More particularly, the present inventionrelates to a system and method for controlling a setting of a camera orrelated equipment.

BACKGROUND

In camera environments (e.g. film, television, live entertainment,sports), a large variety of equipment exists to operate thefunctionalities of cameras, lighting, and sound. The control andinterrelations of these functions determines the qualities of the finalimagery and sound perceived by audiences. One such function is camerafocus. “Pulling focus” or “rack focusing” refers to the act of changingthe lens's focus distance setting in correspondence to a movingsubject's physical distance from the focal plane. For example, if anactor moves from 8 meters away from the focal plane to 3 meters awayfrom the focal plane within a shot, the focus puller will change thedistance setting on the lens during the take in precise correspondenceto the changing position of the actor. Additionally, the focus pullermay shift focus from one subject to another within the frame, asdictated by the specific aesthetic requirements of the composition.

This process of adjusting the focus is performed manually by the “FirstAssistant Camera” (first AC) or “Focus Puller”.

Depending on the parameters of a given shot, there is often very littleroom for error. As such, the role of a focus puller is extremelyimportant within the realm of a film production; a “soft” image will, inmost circumstances, be considered unusable, since there is no way to fixsuch an error in post-production. One must also consider that an actormay not be able to duplicate his or her best performance in a subsequenttake, so the focus puller is expected to perform flawlessly on everytake. Because of these factors, some production personnel consider thefocus puller to have the most difficult job on set.

Though Focus Pullers can be very skilled, the current process stillslows down production due to the complexity and difficulty of the task.

Current film production begins with a blocking rehearsal, in which thevarious actors' positions are established. During the rehearsal, acamera assistant lays tape marks on the floor at all points where anactor pauses in movement. The actors then leave set to go through hairand makeup, and stand-ins come in to take their places at these variouspositions for the purposes of lighting, framing, and focus-mark setting.

Once a camera position is established by the director of photography andcamera operator, the first AC begins to measure the various distancesbetween the actors' marks and the focal plane of the camera. Thesedistances are recorded in a series of grease pencil/pen marks on thefocus barrel of the lens, and/or the marking disc on the follow focusdevice. Using the stand-ins the marks are checked through the viewfinderand/or the onboard monitor for accuracy. If marks are repositioned inorder to provide specific framing desired, the first AC mustre-measure/re-set his marks accordingly. Additionally, the first AC maylay down specific distance marks on the floor which will be referencedduring the take as actors move between their marks, in order to assistin accurately adjusting the focus to the correct intermediate distances.

When the actors return to set, there is usually a rehearsal for camerain which the focus puller and operator will practice the shot and makesure everything has been set up properly. During a take, the focuspuller modifies the focus based on the dialog, movement of the actors orsubject, movement of the camera and compensates on the fly for actorsmissing their marks or any unforeseen movement. In cases where anobstruction prevents the focus puller from seeing all his marks, he mayrequest the second AC to call the marks for him over a 2-way radioduring the shot. In some situations, such as on long lenses, wideapertures, very close distances, or any combination of the three, asubject moving even a few millimeters may require immediate and veryprecise focus correction.

After a take, if the focus puller feels he's made a mistake—be it atiming error, a missed mark, or any other issue which may have renderedsome part of the take “soft”, he or she will typically report this tothe operator (who most likely noticed the error in the viewfinder) ordirector of photography, and may ask for another take if another wasn'talready planned.

In addition to keen eyesight, reflexes, and intuition, the focuspuller's primary tools are a cloth or fiberglass tape measure, steeltape measure, laser rangefinder, and in some cases an on-cameraultrasonic rangefinder which provides a real-time distance readoutmounted on the side of the mattebox or camera body. In setups where thefocus puller cannot touch the camera, such as on steadicam or craneshots, he or she will use a remote follow focus system, though somefocus pullers prefer using a remote system at all times. In any of theabove mentioned cases the focus puller is still required to adjust thefocus manually during the course of the shot.

The current approach is time consuming, difficult, and highly prone toerror. It has long been a technical hurdle in cinematic moving imageproduction and it imposes significant creative constraints on thedirector as well as increasing the cost of production due to unusableshots, slow setup times and the need for highly skilled and highly paidfocus pullers.

Known to the Applicant are semi-automatic focusing systems that dependon lasers, sonar, and facial/object recognition tracking.

These methods are essentially variances of the same approach in thatthey each sense the “two dimensional plane” of the image and capturedepth or distance information for any given area or pixel on that plane.For the most advanced systems, the operator of the system can thenchoose a point on the two dimensional image, at which time the distancedata for that point will then be input to a motor which controls focusadjustment in real-time.

These known methods present some limitations. More particularly, thesesystems are all “line of sight”. They cannot focus on an object that isnot currently visible in the “two dimensional image plane”. The lasersystem requires an additional operator to target a laser on the desiredsubject. The facial recognition system will lose track of an object ifit turns rapidly, goes off frame or disappears behind another subject orobject.

Perhaps most importantly, none of these systems is truly capable of theextreme accuracy required for the most challenging focus tasks, i.e along focal length with a wide aperture when the subject is movingrapidly and the focus point on the subject is very specific, for examplethe eye, because for both the LIDaR (Light Detection and Ranging) andlaser systems a human operator must keep track of the eye in real-timeeither by moving a cursor on a screen or by aiming an actual laser. Itshould also be noted that shining a laser into a person's eye may beundesirable. While the facial recognition system could in theory trackand eye, there is a need to provide an increased level of precision andaccuracy.

Known to the Applicant are U.S. Pat. No. 5,930,740 (MATHISEN), U.S. Pat.No. 8,448,056 (PULSIPHER), and U.S. Pat. No. 8,562,433 (LARSEN); UnitedStates Patent Applications having publication Nos. 2008/0312866(SHIMOMURA), 2010/0194879 (PASVEER), 2013/0188067 (KOIVUKANGAS),2013/0222565 (GUERIN), 2013/0229528 (TAYLOR), and 2013/0324254 (HUANG),and Japanese Patent Application having publication No. JP 2008/011212(KONDO).

Hence, in light of the aforementioned, there is a need for an improvedsystem which, by virtue of its design and components, would be able toovercome some of the above-discussed prior art concerns.

SUMMARY

The object of the present invention is to provide a system which, byvirtue of its design and components, satisfies some of theabove-mentioned needs and is thus an improvement over other relatedsystems and/or methods known in the prior art.

An object of the present invention is to provide a system and method forcontrolling a setting of an equipment related to image capture. Suchequipment may include a camera, and the setting may be for example afocus setting, a zoom setting, an aperture setting, an inter ocular lensangle setting, and/or control pan setting, a tilt setting, a rollsetting of the camera, and/or positional setting of the camera, and/or alighting equipment setting, and/or a sound equipment setting, and/or thelike.

In accordance with an aspect of the present, there is provided a methodfor controlling a setting of an equipment related to image capture,comprising:

-   -   a) capturing position data and orientation data at a sensing        device;    -   b) determining, by means of a processor, position information of        a region of interest to be treated by the equipment, from the        position data and orientation data having been captured; and    -   c) outputting, via an output port of the processor, a control        signal directed to the equipment, in order to control in        real-time the setting of the equipment based on said position        information of the region of interest.

The “equipment” may comprise an image capture equipment, such as acamera to capture an image of the subject (either a photo or videoimage) and/or it may comprise equipment which cooperates with an imagecapture equipment, such as lighting equipment, sound capture equipment,and/or the like.

In accordance with another aspect of the present, there is provided asystem for controlling a setting of an equipment related to imagecapture, comprising:

-   -   a sensing device configured to capture position data and        orientation data;    -   a processor being in communication with the sensing device, the        processor being configured to determine position information of        a region of interest to be treated by the equipment, from the        position data and orientation data; and    -   an output port integrated in the processor, configured to output        a control signal directed to the equipment, in order to control        in real-time the setting of the equipment based on said position        information of the region of interest.

In accordance with another aspect of the present, there is provided anon-transitional computer-readable storage having stored thereon dataand instructions for execution by a computer, said data and instructionscomprising:

-   -   code means for receiving position data and orientation data of a        sensing device;    -   code means for determining position information of a region of        interest to be treated by the equipment, from the position and        orientation data; and    -   code means for outputting a control signal directed to the        equipment, in order to control in real-time the setting of the        equipment based on said position information of the region of        interest.

In accordance with another aspect of the present, there is provided amethod for controlling a setting of an equipment related to imagecapture, comprising:

-   -   a) storing in a memory, one or more identifier, each identifier        being associated to a predefined region of interest to be        treated by the equipment and storing corresponding position        information;    -   b) receiving, at a processor, a selection of said one or more        identifier; and    -   c) outputting, via an output port of the processor, a control        signal directed to the equipment, in order to control in        real-time the setting of the equipment based on the position        information of the selected one of said one or more predefined        region of interest.

In accordance with another aspect of the present, there is provided asystem for controlling a setting of an equipment related to imagecapture, comprising:

-   -   a memory configured to store one or more identifier of a        predefined region of interest to be treated by the equipment and        corresponding position information;    -   a processor being in communication with the memory and        configured to receive a selection of said one or more        identifier; and    -   an output port being integrated with the processor, being        configured to output a control signal directed to the equipment,        in order to control in real-time the setting of the equipment        based on the position information of the selected one of said        one or more predefined region of interest.

According to embodiments, the components of the above system areprovided in a central device (for example a computer), the systemfurther comprising one or more user device (for example a computer,which may be a tablet computer with a touch screen) for receiving usercommands, the user device being in communication with the centraldevice. More particularly, the user device may be configured to presentthe one or more predefined region of interest to a user via a graphicaluser interface, as well as to receive from the user a selection of saidone or more region of interest, and to transmit references to said oneor more region of interest to the central device.

In accordance with another aspect of the present, there is provided anon-transitional computer-readable storage having stored thereon one ormore identifier of a predefined region of interest to be treated by theequipment and corresponding position information, the computer-readablestorage further comprising data and instructions for execution by aprocessor, said data and instructions comprising:

-   -   code means for receiving a selection of said one or more        identifier; and    -   code means for outputting a control signal directed to the        equipment, in order to control in real-time the setting of the        equipment based on the position information of the selected one        of said one or more predefined region of interest.

In accordance with another aspect of the present, there is provided amethod for controlling a setting of an equipment related to imagecapture, comprising:

-   -   a) capturing, by means of a visibility independent sensing        device, position data at the sensing device;    -   b) determining, by means of a processor, position information of        a region of interest to be treated by the equipment, from the        position data; and    -   c) outputting, by means of an output port of the processor, a        control signal directed to the equipment, in order to control in        real-time the setting of the equipment based on said position        information of the region of interest.

In accordance with another aspect of the present, there is provided asystem for controlling a setting of an equipment related to imagecapture, comprising:

-   -   a visibility independent sensing device configured to capture        position data;    -   a processor being in communication with the sensing device, the        processor being configured to determine position information of        a region of interest to be treated by the equipment, based on        the position and orientation data; and    -   an output port integrated with the processor being configured to        output a control signal directed to the equipment, in order to        control in real-time the setting of the equipment based on said        position information of the region of interest.

According to embodiments, the system further comprises a controllerbeing in communication with the output port and being configured tocontrol the setting of the equipment with said control signal.

According to embodiments, the setting may comprise: a focus setting of acamera, a zoom setting of the camera, an aperture setting of the camera,an inter ocular lens angle setting of the camera, a pan setting of thecamera, a tilt setting of the camera, a roll setting of the camera, apositional setting of the camera, a lighting equipment control setting,and/or a sound equipment setting

In accordance with another aspect of the present, there is provided anon-transitional computer-readable storage having stored thereon dataand instructions for execution by a computer having an input port forreceiving position data from a visibility independent sensing device,said data and instructions comprising:

-   -   code means for determining position information of a region of        interest to be treated by the equipment, based on the position        data and orientation data; and    -   code means for outputting a control signal directed to the        equipment, in order to control in real-time the setting of the        equipment based on said position information of the region of        interest.

According to yet another aspect of the present, there is provided asystem for controlling a setting of an equipment related to imagecapture, comprising:

-   -   a) a sensor to be mounted on a subject to be captured by the        camera, adapted for capturing three-dimensional positional data;    -   b) a processor adapted to communicate with the sensor for        receiving the positional data and for generating a control        signal based on the positional data; and    -   c) a controller adapted to communicate with the processor, in        order to control, in response to the control signal, the setting        of the equipment.

In particular embodiments, the setting may include: a focus setting, azoom setting, an aperture setting, an inter ocular lens angle setting,and/or control pan setting, a tilt setting, a roll setting of thecamera, positional setting of the camera, a lighting equipment setting,a sound equipment setting, and/or any combination thereof.

In particular embodiments, the orientation data is captured by thesensor device in all three degrees of freedom, for example in Eulerangles of azimuth, elevation and roll (A,E,R). In such embodiments, theprocessor is adapted to calculate a position of a point of focus, or“node” in relation to the positional and orientation data representingthe location of the sensor device. The processor is thus adapted togenerate a control signal based on the position of the node.

By “point of focus” or “node” it is meant a particular point or regionof intereston the subject based on which the setting (for example,focus, zoom, aperture, lighting, sound, etc.) of the equipment is to becontrolled. This “node” is sometimes referred to as the “tip offset” inmotion tracking systems that provide both position and orientation forexample, in some situations where the node does not have the identicalcoordinate of the sensor but is at a fixed distance from the sensor. Forexample, the node may correspond to an eye of a person, while thepositional and orientation data corresponds to the back of the person'shead where the sensor is located. Thus, the focus, zoom, aperture, interocular angle, control pan, tilt, roll of the camera, position of thecamera, lighting equipment, and/or sound equipment may be set dependingon the particular positioning of the person's eye, through a calculationfrom the position and orientation of the sensor.

In particular embodiments, the system further comprises a sensor to bemounted on the camera, namely in case the camera moves in relation tothe subject to be captured.

According to yet another aspect of the present, there is provided amethod for controlling a setting of an equipment related to imagecapture, comprising:

-   -   capturing three-dimensional positional data related to a subject        to be captured by a camera;    -   generating a control signal based on the positional data; and    -   controlling, in response to the control signal, the setting of        the equipment.

According to yet another aspect of the present, there is provided anon-transitional processor-readable storage medium for controlling asetting of an equipment related to image capture, the storage mediumcomprising data and instructions for execution by a processor to:

-   -   receive three-dimensional positional data related to a subject        to be captured by a camera;    -   generate a control signal based on the positional data; and    -   transmit the control signal to a controller for controlling the        setting of the equipment.

According to yet another aspect of the present, there is provided asystem for controlling a setting of an equipment related to imagecapture, comprising:

-   -   a sensor and transmitter to be mounted on a subject to be        captured by a camera, adapted for capturing positional and/or        orientation data;    -   a processor adapted to communicate with the sensor's transmitter        for receiving the positional data and for sending a control        signal based on said positional and/or orientation data; and    -   a controller adapted to communicate with the processor, in order        to receive the control signal and to control, in response to the        control signal, the setting of the equipment.

In accordance with still another aspect, there is provided a methodassociated to the above-mentioned system.

In accordance with still another aspect, there is provided anon-transitional processor-readable storage medium comprising data andinstructions to carry out the method associated to the above-mentionedsystem.

Embodiments of the present invention are advantageous in that a use ofmotion tracking data with very specific properties to create multiplepredefined positional and directional ‘nodes’ in three-dimensionalspace, an increased level of equipment control and automation isachievable in a wide variety of moving and still photographicenvironments.

Embodiments of the present invention are advantageous in that theyallow, with or without user interaction, real-time tracking and/orchoosing from multiple pre-defined stationary or moving points in athree-dimensional space (nodes) and without any additional manualintervention, the choosing of any of these nodes at any time using asoftware interface or mechanical dial or other mechanical input device.In an exemplification of focus control, upon a user selecting a desirednode, the system automatically adjusts focus to that node and maintainsfocus on that node even if the node and the camera are moving. It willalso enable focus on a node that is not in the current field of view,allowing objects to be in focus the instant they enter the compositionor appear from behind other objects (doorways, walls, vehicles, etc.).

The objects, advantages and features of the present invention willbecome more apparent upon reading of the following non-restrictivedescription of preferred embodiments thereof, given for the purpose ofexemplification only, with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a block diagram of a system for controlling camera settings,according to an embodiment of the present.

FIG. 1B is a flow chart representing steps of a method executed by thesystem shown in FIG. 1A, in accordance with an embodiment.

FIG. 1C is a sequence diagram representing a method executed by thesystem shown in FIG. 1A, in accordance with an embodiment.

FIGS. 2A and 2B show a block diagram of a system for simultaneouslycontrolling multiple camera settings and camera controls, according toanother embodiment of the present invention.

FIG. 3 is a schematic diagram showing a single or double boom polesource mount to be used with the system shown in FIG. 1A, according toan embodiment.

FIG. 4 a schematic diagram showing a camera arm source mount to be usedwith the system shown in FIG. 1A, according to an embodiment.

FIG. 5 is a schematic diagram showing a camera sensor mount to be usedwith the system of FIG. 1A, according to an embodiment, the camerasensor mount comprising a rod and source cases mounted at each extremityof the rod.

FIG. 5A is a perspective view of the source case of the camera sensormount shown in FIG. 5.

FIG. 5B is a side plan view of a portion of the rod shown in FIG. 5,showing one of the extremities of the rod with a mounting shaftextending therefrom.

FIG. 5C is a profile view of a mounting hole of the source case shown inFIG. 5A, configured to receive the extremity of the rod shown in FIG.5B.

FIG. 6 is a schematic diagram showing a modular source mounting systemto be used with the system of FIG. 1A, according to an embodiment.

FIG. 7 shows a home screen displayed on a graphical user interface (GUI)of a user device in the system shown in FIG. 1A.

FIG. 8 shows a node creation/modification window of the GUI shown inFIG. 7.

FIG. 9 shows a portion of the home screen shown in FIG. 7, namely a nodearray defining various nodes.

FIG. 10 shows a particular node button of the node array o shown in FIG.9.

FIG. 11 shows a selected node button of the node array shown in FIG. 9.

FIG. 12 shows a portion of the home screen shown in FIG. 7, namelyshowing a sequencer component.

FIG. 13 shows another portion of the home screen shown in FIG. 7, namelyshowing a corner dial control interface.

FIG. 14 shows yet another portion of the home screen shown in FIG. 7,namely showing another corner dial control interface.

FIG. 15 shows a display screen, according to an embodiment, to bedisplayed on the user device of the system shown in FIG. 1A, fordefining a camera to be controlled.

FIG. 16 shows another display screen, according to an embodiment, to bedisplayed on the user device of the system shown in FIG. 1A, forcalibrating lenses of a camera to be controlled.

FIG. 17 shows another display screen, according to an embodiment, to bedisplayed on the user device of the system shown in FIG. 1A, forselecting a configuration of the sensor device.

FIG. 18 shows another display screen, according to an embodiment, to bedisplayed on the user device of the system shown in FIG. 1A, forrecording in memory the configuration of the node array and of thesequencer.

FIG. 19 shows a portion of a display screen, according to an embodiment,to be displayed on the user device of the system shown in FIG. 1A,including a corner controller for adjusting an amount of latency/lagcompensation to be applied to the node data.

FIG. 20 shows an alternate control display screen, according to anembodiment, to be displayed on the user device of the system shown inFIG. 1A, comprising an interactive graphical representation related to alinear sequencer function.

FIG. 21 shows an alternate control display screen, according to anembodiment, to be displayed on the user device of the system shown inFIG. 1A, comprising an interactive graphical representation related to acustom sequencer function.

FIG. 22 shows an alternate control display screen, according to anembodiment, to be displayed on the user device of the system shown inFIG. 1A, comprising an interactive graphical representation related to afree sequencing function.

FIG. 23 shows another control display screen, according to anembodiment, to be displayed on the user device of the system shown inFIG. 1A, comprising an interactive graphical representation related to afree sequencing function.

FIG. 24 shows a portion of a home screen, according to an embodiment, tobe displayed on a graphical user interface (GUI) of a user device in thesystem shown in FIG. 1A, namely a 4-node Geometry controller feature.

FIG. 25 shows a portion of a home screen, according to an embodiment, tobe displayed on a graphical user interface (GUI) of a user device in thesystem shown in FIG. 1A, namely a 3-node Geometry controller feature.

DETAILED DESCRIPTION OF EMBODIMENTS

In the following description, the same numerical references refer tosimilar elements. The embodiments mentioned and/or geometricalconfigurations and dimensions shown in the figures or described in thepresent description are embodiments of the present invention only, givenfor exemplification purposes only.

Broadly described, the system and method for controlling a setting of acamera, according to a particular embodiment, uses a motion capture orglobal (or local) positioning system to generate a three-dimensionalpositional and orientation data. This data is processed by software thatcomputes in real-time the position and orientation in three-dimensionalspace along with other dimensional calculations including the relativedistance data between the desired subject and the camera. This data isthen used to control equipment such as servo motors for manipulatingcamera related equipment such as lens focus, lens aperture, and cameraremote heads, all in real-time.

More particularly, the present concerns, according to a particularembodiment, controlling focus and composition, and involves creatingpre-defined points in a three-dimensional space, hereafter referred toas “nodes”. A node may either be a fixed node in a room, i.e. a vase offlowers. Or it may be a moving node, i.e. a person or animal. Fixednodes do not require a sensor if the camera is not moving, or if thecamera has a sensor. Moving nodes require a sensor as do moving cameras.Since the motion tracking system essentially creates the possibility ofdrawing an infinite number of defined points in a giventhree-dimensional space, interfacing with this data allows for vastlymore complex and liberating creative and practical possibilities. Oneimportant feature of “nodes” as defined and used in this system is thatthey have both positional and orientation data: this allows forintelligent operations to be performed, such as pulling focusautomatically between left and right eye—see “Auto Profiling” later inthis document.

Thus when referring to FIG. 1, there is provided a system 10 forcontrolling a setting of an equipment 112 related to image capture, suchas a camera 12. The system 10 comprises one or more sensing device 114,such as sensors 14, configured to capture position data and orientationdata at the sensing device. The system 10 further comprises a processor16 embedded in a data processing device 28 (also referred to herein as“data processing unit”). The processor 16 is in communication with thesensing devices 114, and configured to determine position information ofa region of interest to be treated by the equipment 112, based on theposition and orientation data. The processor 16 further comprises anoutput port 43 configured to output a control signal directed to theequipment 112, in order to control in real-time the setting of theequipment 112 based on said position information of the region ofinterest.

The system 10 further comprises a controller 118 being in communicationwith the output port 43 and being configured to control the setting ofthe equipment 112 with the control signal. The system 10 furthercomprises a memory 132, such as RAM 32, for storing the position dataand orientation data. The system 10 further comprises the equipment 112.In accordance with this embodiment, the sensing devices 114 arevisibility independent (i.e. non line-of-sight sensors), and comprise atransmitter 22. The system 10 further comprises a receiver 26 which isin communication between the transmitter 22 and the processor 16. Thesystem 10 further comprises a user device 40 comprising a user interface42 and which is in communication with the data processing device 28 overa wireless communication network 39.

More particularly, FIG. 1 shows a system 10 for controlling a setting ofa camera 12. The system 10 comprises sensors 14, each for mounting on asubject to be capture by the camera 12, and each being adapted forcapturing three-dimensional positional data based on the location ofeach sensor 14. The system 10 further comprises a processor 16 adaptedto communicate with the sensor 14 for receiving the positional data andfor sending a control signal based on the positional data. The system 10further comprises a controller 18 adapted to communicate with theprocessor 16, in order to control, in response to the control signal,the setting of the camera 12.

As also shown in FIG. 1, the sensors 14, are each hardwired 20 to ahub/transmitter 22. The hub/transmitter 22 communicates via wirelessradio frequency (RF link) communication means 24 to a Universal SerialBus (USB) receiver 26, which in turn is connected via a USB connection27 to a data processing device 28, having the processor 16 embeddedtherein.

The data processing device 28 further comprises a power supply 30 and aDDR3 random access memory (RAM) 32, and embeds a Flash non-volatilecomputer storage 34. The data processing device 28 further comprises aWiFi communication module 36 and a Zigbee™ wireless communication module38 for communicating over a wireless data network 39 with a user device40, which in this example is an iPad™, and includes a user interface 42.It is to be understood that the iPad™ may be replaced or combined withany other suitable computer device such as for example and Android™tablet computer.

The controller 18 is connected to the data processing device 28 over ahardwire 44. The controller 18 is attached in an area of the camera 12,and comprises a Cypress PSOC™ 5 LP micro-controller unit (MCU) 46, aswell as a power supply 48. H-bridges 50, 52, 54 connect the controller18 to respective servo motors 56, 58, 60 which automatically operateparticular settings of the camera 12, namely focus, iris and zoomrespectively.

It is to be understood, that according to alternative embodiments, theabove-mentioned components may be interconnected in any suitable mannervia any suitable communication means.

Indeed and for example, in the embodiment shown in FIGS. 2A and 2B, aplurality of cameras 12 are controlled by the system 10′. Each camera 12is connected to a “slave” data processing device 28 b, which is operablevia corresponding user interfaces of user devices 40. The “slave” dataprocessing devices 28 b are in communication with a “master” dataprocessing device 28 a.

The remaining components of FIGS. 2A and 2B refer to similar componentsshown in FIG. 1.

In the embodiments shown in FIGS. 1 and 2, the sensor system is providedby a magnetic motion tracking system. More particularly, the sensor 14is provided by an induction coil and the system 10, 10′ further includesan alternating current (AC) magnetic source generator (see FIG. 3). Thehub 22 powers the sensor 14, interprets the data and transmits thepositional data over radio frequency 24.

Preferably, the magnetic source is mounted together with onboard power,on a custom extendable pole mount.

Optionally, a radio frequency repeater may be provided to extend therange of data transmission coming from the motion capture system. TheUSB RF receiver needs to get data from the sensor and transmit it to thecamera. If the distance between camera and sensor is very large (forexample when using a 2000 mm or 200 mm lens for car commercials etc)then it may be necessary to boost the range. Also optionally, a USBrepeater may be provided in order to extend the range of datatransmission coming from motion capture system.

The user interface 42 of each user device 40, i.e. iPad™, includes atouch screen, and the user device 40 is adapted to execute interfacesoftware which communicates with the central controller(s) 28, 28 a, 28b.

Optionally, mechanical input devices (e.g. focus control dial or slider)may be provided to act as an analog/digital interface to add additionalcontrol features to the software. For example, as illustrated in FIGS.2A and 2B, one of the user devices 40 has a user interface 42 includinga focus pulling knob 62.

The central data processing device 28, operates with a Linux™ operationsystem, and performs much of the processing to control the servomotor(s) 56, 58, 60.

As previously mentioned, the servo motors 56, 58, 60, mechanicallyadjust camera settings, such as, for example, focus, zoom, apertureand/or control pan, tilt, roll, and/or the like.

It is to be understood that depending on particular embodiments, thesetting may include any one of the following or a combination thereof: afocus setting of a camera, a zoom setting of the camera, an aperturesetting of the camera, an inter ocular lens angle setting of the camera,a pan setting of the camera, a tilt setting of the camera, a rollsetting of the camera, a positional setting of the camera, a lightingequipment control setting, a sound equipment setting, and the like.

In the context of the present description, the term “processor” refersto an electronic circuitry configured to execute computer instructions,such as a central processing unit (CPU), a microprocessor, a controller,and/or the like. A plurality of such processors may be provided,according to embodiments of the present invention, as can be understoodby a person skilled in the art. The processor may be provided within oneor more general purpose computer, for example, and/or any other suitablecomputing device.

Still in the context of the present description, the term “storage”refers to any computer data storage device or assembly of such devicesincluding, for example: a temporary storage unit such as a random-accessmemory (RAM) or dynamic RAM; a permanent storage such as a hard disk; anoptical storage device, such as a CD or DVD (rewritable or writeonce/read only); a flash memory; and/or the like. A plurality of suchstorage devices may be provided, as can be understood by a personskilled in the art.

Moreover, “computer-readable storage” refers to any suitablenon-transitory processor-readable storage medium or computer product.

Other components which may be used with the above-described system 10,10′ include:

-   -   a custom modular system of non-metallic pole mounts for source        placement, namely a carbon fiber scaffolding rig with        pre-determined sizes so that it can be quickly and easily set        up, when using more than two sources.    -   various clips and brackets for mounting sensors and magnetic        sources to cameras, subjects and objects; and    -   various instruments for facilitating easy measurement of node        offsets and placement and source locations.

Namely, FIG. 3 shows a single or double boom pole source mount to beused with the system, according to an embodiment. Moreover, FIG. 4 showsa camera arm source mount to be used with the system, according to anembodiment. Moreover, FIG. 5 shows a camera sensor mount to be used withthe system, according to an embodiment, with portions thereof beingshown in FIG. 5A-5C. Furthermore, FIG. 6 shows a modular source mountingsystem to be used with the system, according to an embodiment.

Operation of the System

As previously mentioned, embodiments of the present allow controllingfocus and composition and involves creating pre-defined points in athree-dimensional space, referred to herein as “nodes”, having bothpositional and orientation data. A node can either be a fixed node in aroom, i.e a vase of flowers. Or it can be a moving node, i.e a person oranimal. Fixed nodes do not require a sensor if the camera is not moving,or if the camera has a sensor. Moving nodes require a sensor as domoving cameras.

In operation, with reference to FIG. 1 the sensor 14 generates acoordinate representing it's physical location, for example an X,Y,Zcoordinate of a Cartesian coordinate system and/or an Azimuth,Elevation, Roll (A, E, R) which represents the orientation of thesensor. For example, in the case where the sensor 14 is placed on theback of the head of a person being capture by the camera 12, theinformation generated by the sensor will indicate the location of thesensor and whether the person's head is facing forward, backward, etc.

The processor 16 receives the position and orientation information andcalculates the position of the “node”. For example, in the case wherethe sensor 14 is placed on the back of the head of a person, a “node”may correspond to one of the eyes of the person. Thus, the processor 16seeks the predetermined position of the person's eye in relation to thesensor 14, and calculates the location of the eye, i.e. the point offocus, based on the location and orientation information received. Theprocessor then calculates the distance between the camera 12 and thepoint of focus. Based on the calculated distance, the processor 16outputs a control signal in order to control settings of the camera 12.

Thus, as better shown in FIG. 1B with further reference to FIG. 1A,there is provided a method 200 for controlling a setting of theequipment 112. The method 200 comprises capturing 210, by means of thesensing device 114, three-dimensional position data and orientation dataof the sensing device 114, and storing 212 the position data andorientation data in the memory 132. The position data and orientationdata is captured by the sensing device which produces a coordinaterepresenting a physical location and a property representing theorientation of the sensing device 114. The method 200 further comprisesdetermining 214, by means of the processor 16, position information of aregion of interest to be treated by the equipment, i.e. a “node”, basedon the three-dimensional position data and orientation data. The nodeand the sensor device 114 are typically located a different locations.The processor 16 thus determines 216 the position information of thenode, and further calculates 218 a distance between the equipment 112and the node.

The method further comprises outputting 220, via output port 43, acontrol signal directed to the equipment 112, based on the calculateddistance.

More particularly, a “Distance Formula” is derived from the Pythagoreantheorem and calculates the distance between two points inthree-dimensional Euclidean space (x1,y1,z1) and (x2,y2,z2). Once theexact position of two nodes are determined, the distance formula can beused to calculate the distance between these nodes. For the example offocusing a camera, if one of the nodes is the centre of the focal planeon a camera, the external focus ring or internal electronic focusmechanism of the lens can be set to that distance in order to focus anobject.

More particularly, the position information of each node in thecomputing step 216 comprises Euclidean space coordinates of the node(x₁,y₁,z₁), and the calculating step 218 comprises:

-   -   receiving 222 position information of the equipment in Euclidean        space coordinates (x₂,y₂,z₂); and    -   calculating 224 the distance between the position information of        the equipment and the position information of the node from the        following pythagorean theorem:        distance=√{square root over ((x ₁ −x ₂)²+(y ₁ −y ₂)²+(z ₁ −z        ₂)²)}

For a motion tracking sensor that measures both position andorientation, vector mathematics can be used to apply a “tip offset” tothe location of the sensor. For example if an actor puts a sensor on theback of his/her cranium, a tip offset could project the location of thesensor to the surface of the actor's left eye, in effect creating avirtual sensor on the actor's eye. For rigid subjects/objects, applyinga tip offset allows for nodes to be defined anywhere inside or on thesurface of the subject/object. Likewise, tip offsets (nodes) can becreated anywhere in 3D space, i.e. they can exist outside an objectrepresenting a location coordinate relative to the sensor's position andorientation. Thus, the determining step 216 comprises applying 226 a tipoffset from the position data and orientation data of the sensing device114 of the capturing step 210 in order to calculate the positioninformation of the node.

One method to perform this tip offset (node) projection makes use ofmeasured X, Y, and Z offsets from that sensor's origin to the eye, withrespect to the axis system defined by the sensor. For the eye example,the offsets could be 10 cm in the X-direction, 0 cm in the Y-direction,and 8 cm in the Z-direction with respect to the sensor's localcoordinate system. With these offsets, rotational matrices and/orquaternions can be used to calculate the absolute position (X,Y,Z) andorientation (yaw, roll, pitch) of the actor's eye in the motion trackingsystem's coordinate system. The following equations use a standardrotational matrix approach to solving this tip offset problem (seehttp://www.flipcode.com/documents/matrfaq.html#Q36).

Thus, in this embodiment, step 226 of applying the tip offset (see FIG.1B) comprises obtaining relative coordinates of the node relative to thethree-dimensional position data and orientation data of the sensingdevice 114, within an axis system defined by the sensing device 114. Inthis case, the determining step 216 comprises evaluating an absoluteposition of the node in relation to the equipment 112.

The absolute position of the node is evaluated as follows:

-   -   Using the rotation matrix M=X.Y.Z where M is the final rotation        matrix, and X,Y,Z are the individual rotation matrices.

$M = {\begin{matrix}{CE} & {- {CF}} & {- D} \\{{- {BDE}} + {AF}} & {{BDF} + {AE}} & {- {BC}} \\{{ADE} + {BF}} & {{- {ADF}} + {BE}} & {AC}\end{matrix}}$

-   -   Where:    -   A,B are the cosine and sine, respectively, of the X-axis        rotation axis, i.e. roll;    -   C,D are the cosine and sine, respectively, of the Y-axis        rotation axis, i.e. tilt;    -   E,F are the cosine and sine, respectively, of the Z-axis        rotation axis. i.e. pan;        X _(f) =X _(s) +X _(t) *M(1,1)+Yt*M(2,1)+Zt*M(3,1);        Y _(f) =Y _(s) +X _(t) *M(1,2)+Yt*M(2,2)+Zt*M(3,2);        Z _(f) =Z _(s) +X _(t) *M(1,3)+Yt*M(2,3)+Zt*M(3,3);    -   where:    -   X_(f),Y_(f),Z_(f) are absolute (or “final”) coordinates of the        node;    -   X_(s),Y_(s),Z_(s) are coordinates of the sensing device's        center;    -   X_(t),Y_(t),Z_(t) correspond to coordinates of the tip offset        relative to the sensing device's center;    -   M(row,column) are elements of the rotation matrix in terms of        row and column, respectively, with the element “row”        representing the row number of within the matrix and the element        “column” representing the column number of within the matrix.

The measurement of the “tip offsets” may be facilitated by anothermethod. For example, there is a sensor is on the back of an actor'scranium with an initial orientation which can be represented in Eulerangles or by a quaternion. A user wishes to define a node on the actor'sleft eye. Another motion tracking sensor can be placed against theactor's eye to calculate the X, Y, and Z offsets (instead of attemptingto use measuring tape for instance). One solution is to measure the “tipoffset” and orientation at this initial time. Given the base sensor atposition, P1, and the sensor at the desired node point, P2, the “tipoffset”, V1, is P2−P1. The initial orientation can be defined asquaternion Q1 with X, Y, Z, and W attributes. At any other time, therewill be a new orientation, Q2.

Thus, in this embodiment, step 226 of applying the tip offset comprisesobtaining a tip offset having been precalculated by a position of a nodesensing device located at a position of the node, in relation to aposition and orientation of a base sensing device located at a positionof said sensing device. As mentioned above, the initial orientation isdefined as quaternion Q₁ with X, Y, Z, and W attributes, the orientationdata of the capturing step is defined as Q₂. The position information ofthe node is determined according to:P _(n)+(q _(i) q _(n))P _(i)(q _(i) q _(n))

-   -   where:    -   P_(i) is the offset from the sensor at orientation q;    -   P_(n) is the current position of the sensor;    -   q_(i) is the orientation of the sensor at the time P_(i) is        calculated;    -   q_(n) is the current orientation of the sensor; and    -   q_(i) and q_(n) are unit quaternions.

Various other approaches and/or method may be carried out in order tothe position and/or orientation data to perform a variety of advancedsystem functions. An example may be the use of quaternions to calculatethe position and orientation of a motion capture “magnetic source”relative to the origin of the motion capture coordinate system. If amember of a film crew places a source at a random position andorientation, then with the use of a motion sensor in the range of thisrandom source, along with data from a sensor or source of known positionand orientation, and data from a distance measuring device such as alaser tape measure, the exact position and orientation and the randomsource may be determined. Simple accessory tools and software may renderthis exemplified process very quick and simple to carry out.

Referring back to the embodiment shown in FIGS. 1A and 1B, the method200 further comprises controlling 228, by means of the controller 118(which is embedded in the equipment 112), the setting of the equipment112 with said control signal.

Given that the node is offset from the sensor, the orientation dataadvantageously allows positioning the node even if the sensor turns, asthe position of the offset rotates with the sensor. For example, asensor may be mounted on the handle of a sword, and the focal pointcould be fixed to the tip of the sword and tracked with high precisionno matter how the sword is moved and rotated.

A further advantage of using orientation data relates to a “calibrationoffset” function. With orientation data, it is possible to use a secondsensor to instantly calculate the desired offset position of the focalnode. For example, placing a sensor on the back of a performer's neckand then placing a second “calibration sensor” on the performer's eye isa fast and powerful way to create nodes. This feature will be betterexplained further below.

A further advantage of using orientation data relates to a “quick set”function, which is a special case of the calibration offset feature. Thequick set function is useful when both the camera and the subject havesensors mounted to them and the camera is pointed at a subject where thesensor is positioned out of sight, on their back, for example. Thecamera focus is then adjusted until the desired part of the subject isin focus, their eyes, for example. Using both the orientation data fromthe subject and the camera and then using the distance data indicated bythe lens, it is possible to also obtain quick and suitably accuratesetup of focal nodes.

Various functional features and aspects, in accordance with particularembodiments of the present invention, will now be described.

According to the embodiment shown in FIG. 1C, with further reference toFIG. 1A, there is shown a method 300 for controlling a setting of anequipment related to image capture. The method 300 comprises storing 314in the memory 132, one or more identifier of a predefined region ofinterest (i.e. a “node”) to be treated by the equipment 112 andcorresponding position information (i.e. three-dimensional coordinaterelative to the equipment). The position information is obtained by:capturing 310 position data and orientation data at the sensing device114; and determining 312 the position information of the region ofinterest to be treated by the equipment 112, from the position andorientation data of the sensing device 114. The method 300 furthercomprises receiving 316, at the processor 16, a selection of the one ormore identifier. The method 300 further comprises outputting 318, bymeans of the output port 43, a control signal directed to the equipment112, in order to control 320 in real-time the setting of the equipment112 based on the position information of the selected region ofinterest.

The Node Array:

By pre-defining nodes (either stationary or moving) it is possible tocreate an array of desired nodes in the interface. Simply by selectingthe node the lens will instantly focus on, and/or the camera will pointto and compose that node in the field of view. This allows for on thespot improvisation, extremely rapid rack focusing between large numbersof subjects/objects and the ability to accurately adjust between twomoving subjects/objects without requiring any act of manual measurementor manual adjustment of focus dial—or in the case of camera operation,any manual adjustment of the camera itself. Thus, in this case, thereceiving step 316 of the method 300 depicted in FIG. 1C comprisesreceiving a predetermined sequenced selection of nodes; and the methodrepeats the outputting step 318 for each node selected in order toautomatically control 320 the setting of the equipment 112 sequentiallyfor a plurality of nodes, in accordance with the sequenced nodeselection.

Node Sequencer:

It is also possible to create a pre-defined sequence of nodes, whichsuits the current paradigm of cinematic film production where a directorknows the order of subjects in advance. In this way, by pre-loadingdesired nodes it is possible to simply shift from one subject/object tothe next by simply clicking a “next” button, or turning a dial (real orvirtual) back and forth the user can not only switch between twosubjects at any desired moment, but can also dictate the speed at whichthe focus adjusts between subjects (speed of the focus pull). Thus, theafore-mentioned repeating of steps 318, 320 shown in FIG. 1C (withreference to FIG. 1A) is prompted upon receiving a user input command,via an input port 41. Alternatively, the steps 318, 320 are repeatedbased on a predetermined schedule stored in the memory 132.

Geometric Slider:

It is also possible to arrange graphical representations of the nodes(or node array) in geometrical (triangles and squares) or randompatterns (zig-zag lines, curved lines etc.) on a touch screen device,and, by sliding a finger between each node the user will be “pullingfocus” between subjects, again having control over the speed of the pulland again, having no need to measure or adjust the actual focus distanceregardless of movement of subjects or camera.

Thus, the method 300 shown in FIG. 1C (with reference to FIG. 1A)further comprises receiving a user input command via a sliding motion ona touch screen, through the input port 41, corresponding to adisplacement between two adjacent nodes, wherein the selection of thereceiving step 316 comprises the identifiers of the adjacent nodes. Themethod 300 further comprises correlating intermediate positions betweenthe adjacent nodes in accordance with the displacement, the outputtingstep 318 is repeated for each of said intermediate positions.

Interface Modes:

Using the Node Array, the Sequencer, the Geometry Slider and thehardware dial or other input device it is possible to choose between twobasic modes of focusing.

One mode is “tap to focus” where a user simply taps a button (virtual oron physical input device) to choose a node or move forward in the nodesequence to the next pre-determined node. In this mode it should also benoted that it is possible to pre-determine the speed at which focus isadjusted when the next node is selected either by pre-defining apreference, or by adjusting a virtual “speed dial” or analog inputdevice.

The second mode is “slide to focus” where the user not only selects thenext node, but by using either the geometry slider, the virtual dial orthe analog input device is able to select the next node and in real-timeeffectuate the speed at which the focus is adjusted. This emulated thecurrent focus pulling paradigm, where a focus puller is in control ofthe speed of the adjustment, without introducing any danger of missingfocus on the desired subject.

Tip Offset and Multiple Nodes from Single Sensor:

By using sensors with provide real-time position and orientation data itis possible to create multiple nodes using the same sensor. This is doneby inputting an “offset value” using X,Y,Z, position coordinates and arelative azimuth, elevation, roll coordinate. Hence, a sensor attachedto the back of a subject's head can have several nodes associated withthe head, since it is a rigid object. The eyes, the tip of the nose, theears, etc, can all be defined as nodes from a single sensor using thistechnique.

Fine Adjust for Tip Offset:

In situations where it may be difficult to measure an accurate offset inthree-dimensional space two automation techniques are provided:

-   -   Presuming the sensor is in place on the back of an actor's neck        and the desired node is in fact the eyes, a second sensor can be        placed momentarily on the eyes. Using the data from the second        sensor the “tip offset” data can be automatically calculated and        applied to the node.    -   A tip offset can be adjusted manually by having the subject        stand in view of the camera, then the focus puller can adjust        the focus until the desired node is in focus (usually the eyes).        The system is able to approximately calibrate its own tip offset        because it knows the orientation of the sensor and it will know        how far the focus has been adjusted relative to the sensor data.

Auto Profiling:

If a user defines a node as the eyes using a sensor hidden elsewhere onthe performer's body, it is possible to inform the system that this nodeis in fact “two nodes”, a left and a right eye. Since the system knowsat all times where the camera is and where the subject is and how thesubject is oriented relative to the camera it can, for example, focus onthe left eye when the left side of the face is towards the camera andthe right eye when the right side of the face is towards the camera.Thus, the method 300 shown in FIG. 1C (with reference to FIG. 1A)further comprises determining the node (or region(s) of interest) whichsatisfies a given condition, among the selection of nodes received atstep 316. The signal of step 318 is thus generated according to the nodewhich satisfies the given condition.

Likewise, any rotating subject or object could have several “autoprofiling” nodes associated with it which can be triggered as thesubject or object turns.

Zoom Control:

Similar to pulling focus the position and orientation data can also beused for adjusting zoom. For example if it is desired to keep a subjectat exactly the same size in frame regardless of their distance, byentering the lens parameters the system can auto-zoom in and out as thesubject or object moves. NB: this effect is sometimes referred to as the“Dolly Zoom” or the “Triple Reverse Zoom”, and currently requires a verysteady camera motion and multiple rehearsals to achieve. This systemenables this effect to be created in hand held shots and with randomperformer and camera movements.

Mirror Mode:

It is also possible to extend the function to calculate virtualdistances and or angles, as would be required for photographingreflections in a mirror, for example. Where the focal distance between acamera and a subject reflected in a mirror equals the distance fromcamera to mirror PLUS the distance from mirror to subject, by placing asensor on the mirror and the subject (and the camera if moving) thesystem can quickly calculate the correct virtual distance to focus onreflections when desired.

Focus Based on Optimal Focal Plane between Two Nodes or Two OffsetNodes:

It may be desirable for example, to focus on two subjects each of whichare wearing sensors. One may thus choose a midway point so that thechosen lens will allow for the subjects to both be in focus as the focalplane will be midway to each subject and will allow for best possiblefocus of both subjects as the focal plane will be at approximately themidway point of the depth of field. The operator may choose any pointbetween the two subjects as well especially if they wish to ensure thatone of the two subjects is given priority and definitely in focus in theevent that the other subjects go outside of the range of the depth offield.

Inter Ocular Angle Adjust for 3D Production:

Some three-dimensional photography setups require real-time adjustmentof inter ocular angle. This system can automate that adjustment bytethering this angle to the chosen subject/object.

Aperture Control:

In some situations it may be desired to “pull aperture” to adjust theamount of light going into the lens, for example when moving from abright outdoor location to a dark interior during a single shot. Bytethering camera position to aperture adjustment the aperture adjustmentcan be performed automatically for a range of pre-determined locations.In addition, because orientation data is available for the camera theaperture can be adjusted based simply on the direction of the cameraallowing for the currently impossible scenario where a set or locationcan be lit to more than one “key light” and the aperture will alwaysadjust smoothly between these exposure values.

Save Setups:

It is possible using this system to pre-plan very complex shots orscenes and enter all required data concerning the “nodes” and anysequences into a file on the interface software. This saving of “scenes”greatly improves on set efficiency and also gives creators the abilityto plan and prepare highly complex shots that are not possible withcurrent technology.

Distance Displays:

It is possible for the system to calculate the relative distance betweensubject and camera at any time and display this as distance data on anydesired readout at any time. For example, the selected “node” distancedata can always be displayed on the main control screen of the softwareinterface. In addition “satellite devices” can tie in to this distancedata, and users can select any node at any time to determine data.

For example a focus puller may be focused on Actor A during a rehearsal,but the cinematographer may wish to know how far away Actor B is toaccess the required light level to create the depth of field requestedby the director. Using a handheld device like and iPod Touch™ or smartphone the cinematographer could access in real-time the distance datafor Actor B, even while Actor A is in focus.

Multi Camera Support:

This system allows the user to setup one or more cameras, with nodefinable upper limit, and target multiple cameras to the same object ortarget each camera to separate objects.

Other Real-Time Data Displays:

Having access to real-time data also allows for other real-timecalculations and indicators:

-   -   Depth of field for any given node at any given time.    -   Min focal distance warning—e.g.: distance can display in orange        when pre-defined close distance is reached and flash red when        the subject reaches actual minimum focal distance.

Manual Overrides and Automatic Handoff:

Since any focus puller or camera operator may want to manually controlfocus at any time, regardless of the efficiency of a system, this systemenables full instant manual or automatic switching between automatic andmanual. These are the methods available in the current system:

-   -   A digital fine adjust “dial” is permanently available to the        focus puller. Simply by adjusting this fine adjust the focus        puller can override the automatic focus setting by any amount.    -   “Slate Mode”. By selecting a button the auto system immediately        switches to full manual.    -   “Auto Handoff”. This mode allows the user to pre-define a point        at which a node, subject or object switches from auto to manual        and vice versa. This may be useful when using very long lenses        with subjects that travel a great distance and or may be a        method for avoiding unwanted variances in the data.

Boom Mounted Source:

Since the film industry is already accustomed to the process of mountinga microphone on a long extendible pole—referred to as a “boom pole”, oneunique implementation of this system is to mount a magnetic source on aboom pole which can then be positioned over the performance area in theclosest convenient location, in exactly the same way that a microphoneis positioned over the performance area in the closest convenientlocation. If both subject and camera are equipped with sensors perfectfocus data can still be gathered for multiple nodes. However, thismethod does not allow for camera operation or the use of fixed nodes notassociated with a sensor.

Double (and Multiple) Source Boom:

Expanding on the basic idea of mounting a single source on a boom poleit is also possible to mount two sources, one on either end of a boompole, to expand the range. Likewise other handheld configurations, atriangle or square, for example can extend the range, allowing for quicksetups requiring no on set calibration since the relative positions ofthe sources can be pre-configured in the setup software.

Camera Mounted Source:

Mounting the source directly on the camera and using the software tocalibrate the relative position of the camera to the source it ispossible to operate the system without a sensor on the camera. Thisallows for a rapid setup “single source system” which provides greataccuracy at close range where it is most needed for acute focus.

Modular System:

Multiple sources (no theoretical upper limit) can be arranged inpre-determined configurations or randomly. Pre-determined configurationscan enable quick setups, (such as a equilateral triangle with 10 ftsides) and cover larger areas. Random configurations require some manualsetup in software but allow for great flexibility in the shape and areato be covered by the system.

Stationary Magnetic Source (or Optical Sensor) Calibration:

Since the system uses multiple magnetic sources, (or in the case ofinfrared, multiple cameras) and the X,Y,Z and A,E,R of each source needsto be entered into the system, a simple interface for entering this datais included in the system.

Predictive (or Kalman) Filtering:

Since any automated system is looking at data in real-time it is alwayslooking in the past. Though this system will be extremely fast, even amicrosecond lag could have visible effects in extremely challengingsituations i.e. very long lenses in low light with rapidly movingsubjects. Currently film makers and cinematographers avoid thesechallenging situations and in fact spend large amounts of money inovercoming them, most notably in the rental of very expensive lightingpackages to maintain an average f/stop of 5.6. With the addition ofpredictive algorithms to the system it is very easy to overcome anyslight lag in data by compensating for any delay in focal position byadjusting the focal position in a fixed proportion relative to thesubject's speed of motion towards or away from the camera. With theaddition of this feature even the most obtaining focus under even themost challenging situations is relatively simple.

As with all features in this system it can be calibrated by the user toadd as much or as little automation as is desired. A highly aggressivesetting, for example, will create tight focus even on very rapidlymoving objects. A less aggressive setting will create a morenaturalistic delay, which may be more suitable to some creative goals.

Data Recording:

As previously mentioned, position and orientation data in this systemmay be recorded (i.e. stored in a memory 132—see FIG. 1A) in real-timeand used later in other post production scenarios.

Enhanced Camera Control:

Using position and orientation data it is possible to fully automate theoperation of the camera and the movements of a dolly and or jib arm orcamera crane. However, camera operators and cinematographers want tohave full control of the subtleties of the final composition. Onefeature of this system is to fully automate the complex work of cameracontrol and allow the operator to simply move his finger over a videoplayback screen with a touch screen capability to adjust composition.For example, the automated system may keep the performer dead center onframe, but the operator wishes to frame the performer to the left offrame. By simply dragging a finger from any point on the video image tothe left the system will compensate and adjust the performer's placementin frame to the desired composition. In this way framing a rapidlymoving object will be as simple as if framing a stationary object. Thissame adjustment can be made with joystick controls, which are currentlyused for standard remote camera operation and this would also be a bigimprovement over current technology. The touch screen drag featurehowever is more intuitive and requires no training.

Infra Red LED:

The above-described system uses an AC magnetic motion capture system.However, an equally viable alternative, which may be applicable tolarger studio configurations, is to use infra-red LED motion trackingsystems to capture the same data. While infra-red is line of sight tothe sensor cameras, it does not require line of sight between the cameraand subject. It is possible to hide small infra-red LEDs in clothing,hair and other objects which will be invisible to the camera. It is alsopossible to create “smart fabrics” that have infra red patterns stitchedinto them which can provide the same data.

Differential Global (and Local) Positioning System:

Differential GPS provides almost all of the relative positional datarequired to operate this system. Augmenting the GPS by accelerating theprocessing time, “tethering”, and adding extra sensory capacity toprovide orientation data will make this system fully functional invirtually any outdoor location in the world. Indoor studio applicationscan be augmented by the development and use of a “local positioningsystem” which operates on the same principals as Differential GPS but ata much smaller scale and, because “satellites” can be stationary, a muchgreater accuracy can also be achieved.

Lighting and Other Equipment Control:

Once nodes are defined data can be made available to any number ofauxiliary control systems that require accurate pointing, following, ortargeting and other qualitative adjustments such as width of light beam,etc.

Sports Training:

Adapting this system to sports training is a relatively simple matter.For example, tethering a tennis ball machine to a software interfacethat knows the exact position of a player it is possible to program themachine to always play to a player's weakness (backhand) and or tocreate a more challenging virtual opponent with the machine's ability tofire balls at any speed or angle.

Application for Sight-Impaired Environments:

Another application of the system could be for use in low-lightsituations or for visually impaired persons. For example, an environmentcould be mapped as nodes and a visually impaired person could receivevarious types of feedback regarding their position and orientation, andthe position and orientation of objects and people in a room. Anotherexample would be in low-light situations such as an extreme darkroom,where any person could not see his or her environment.

Referring now to FIGS. 7 to 25, components of the graphical userinterface (GUI) 64 will be described. The GUI 64 is displayed via theuser interface device 42 of user device 40, in order to allow a user tooperate the system 10 (see FIGS. 1, 2A and 2B).

FIG. 7 shows a home screen 66 of the GUI 64.

FIG. 8 shows a node creation/modification window 68.

FIG. 9 shows a portion of the home screen 66 of FIG. 7, namely the nodearray 70, where a user has created various nodes 72 within the array 70.

FIG. 10 shows a portion of the node array 70 of FIG. 9, and moreparticularly, an example of a node 72.

FIG. 11 shows another portion of the node array 70 of FIG. 9, and moreparticularly, a node 72 which is highlighted, indicating that it hasbeen selected by the user by tapping on the node. A node may indicate avariety of information to the user (e.g. if it is associated with asensor, if the sensor is online, etc.).

FIG. 12 shows a portion of the home screen 66 of FIG. 7, namely asequencer 74. A user has recorded various nodes in a specified order tothe sequencer 74.

FIG. 13 shows another portion of the home screen 66 of FIG. 7, namelyexemplifying

a corner dial control interface 76. In this embodiment, the dial is usedto fine adjust the focus distance of a lens.

FIG. 14 shows yet another portion of the home screen 66 of FIG. 7,namely exemplifying another corner dial control interface 78. In thisembodiment, the dial is used to control the speed at which the lenspulls focus from one node to another.

FIG. 15 shows a window 80 of the GUI 64 for defining a camera.

FIG. 16 shows a window 82 of the GUI 64 for calibrating lenses andselecting which lens is on the camera.

FIG. 17 shows a window 84 of the GUI 64 for selecting a set-up of themotion tracking system.

FIG. 18 shows a window 86 of the GUI 64 for saving in memory a currentstate of the application, including the node array 70 and the sequencer74.

FIG. 19 shows a portion of a GUI window 64, including a cornercontroller 88 that allows a user to adjust the amount of latency/lagcompensation the system applies to the node data.

FIG. 20 shows an alternate control window 90 to GUI 64 (“Full FunctionGeometry Linear”) which allows for interactive graphical representationof the sequencer function. User may pull focus (or make other automaticadjustments) simply by sliding finger from one point (each pointrepresenting a node) to the next. The speed at which the user movesfinger from one point to another controls the speed of the focus (orother) adjustment to be made.

FIG. 21 shows an alternate control window 92 to GUI 64 (“Full FunctionGeometry Custom”) which allows for interactive graphical representationof the sequencer function. User may determine exact number and positionof points on the screen (each point representing a node) and then pullfocus (or make other automatic adjustments) simply by sliding fingerfrom one node to the next. The speed at which the user moves finger fromone point to another controls the speed of the focus (or other)adjustment to be made.

FIG. 22 shows an alternate control window 94 to GUI 64 (“Full FunctionGeometry 6 Node”) which allows for interactive adjustments between any 6points, each point representing a node. The advantage of thisconfiguration is that no pre-determined sequence is required. The speedat which the user moves finger from one point to another controls thespeed of the focus (or other) adjustment to be made.

FIG. 23 shows an alternate control window 96 to GUI 64 (“Full FunctionGeometry 5 Node”) which allows for interactive adjustments between any 5points, each point representing a node. The advantage of thisconfiguration is that no pre-determined sequence is required. The speedat which the user moves finger from one point to another controls thespeed of the focus (or other) adjustment to be made.

FIG. 24 shows a detail 98 (“Corner Geometry 4 Nodes”) of the cornercontroller 88 of FIG. 19, in the main control window on GUI 64 which hasmultiple functions. This function shows how it can be used as an easilycontrolled graphical representation when four nodes are used. It allowsinteractive adjustment between four points. The advantage of thisconfiguration is that no pre-determined sequence is required and it iseasily operated by the right (or left) thumb in the main GUI 64 window.The speed at which the user moves finger from one point to anothercontrols the speed of the focus (or other) adjustment to be made.

FIG. 25 shows a detail 100 (“Corner Geometry 3 Nodes”) of the cornercontroller 88 in the main control window on GUI 64 which has multiplefunctions. This function shows how it can be used as an easilycontrolled graphical representation when three nodes are used. It allowsinteractive adjustment between three points. The advantage of thisconfiguration is that no pre-determined sequence is required and it iseasily operated by the right (or left) thumb in the main GUI 64 window.The speed at which the user moves finger from one point to anothercontrols the speed of the focus (or other) adjustment to be made.

The following list provides additional features, components, uses, etc.in accordance with embodiments of the present invention:

-   -   data streams and features of this system lend themselves for use        in post production. All data and video feeds can be stored and        immediately replayed (e.g. for each ‘take’ on a film set) and/or        stored for post production (e.g. used for CGI). This includes        camera movements/orientations, node movements/orientations, and        equipment control.    -   data streams and features of this system lend themselves for use        in virtual and augmented reality environments. All data and        video feeds can be transmitted, stored, and immediately        replayed.    -   data streams and features of this system lend themselves to        interoperation of various hardware. For example, aperture and        light dimming can be linked to each other and preprogrammed so        that as the aperture is adjusted to change the depth of field,        the lighting can be automatically simultaneously dimmed or        brightened so the audience experiences changing depth of field        without experiencing a change in lighting. Such interoperability        pertains to all equipment without limitation.    -   the system design, according to embodiments, lends itself to        interoperation of multiple operator interface devices (e.g.        iPads, iPhone, Ipod touches) running the app and controlling all        equipment types. Along with this interoperability, each        interface devices can send and receive data with one another.        For example, if a operator taps a node to focus his or her        camera on one object, that focus decision can be immediately        indicated on the device of another focus puller controlling        another camera, and also on the devices of various other crew        members including the director and producer.    -   the system design, according to embodiments, lends itself to        extremely flexible multicam functionality. In the example of        focus, one iPad can control multiple cameras, and multiple iPads        can control multiple cameras simultaneously. One iPad can        control multiple cameras simultaneously by tapping a node, or        cameras can be selected individual control. A second copy of the        node array can also also temporarily replace the sequencer        graphic for control of one or more secondary cameras        simultaneously to the permanent node array. The video feed        section of the app can be made to switch into split screen (e.g.        split screen for 2 cameras, or 4-way split screen for 4 cameras)        in order to monitor all focusing activity.    -   advanced hardware and software designs focus on minimizing the        latency of the system to the order of milliseconds (e.g.        interrupts, multiple cores, multithreaded software, etc.).    -   due to the low latency and responsiveness of the system, a        function can allow the operator to actually slow down the        autofocusing responsiveness so as not to look too ‘robotic’.    -   a mechanical input device (e.g. a digital follow focus dial        attached to an iPad) can be linked to any elements of the        software's graphical user interface (e.g. sequencer).    -   ‘malleable’ touchscreens that can create the feeling of        textures, grooves, etc. via electrical charges on screen        surfaces lend themselves to this system. For example, the        graphical lines and nodes in the ‘Geometric Slider’ function        could turn into grooves for improved operability including        limiting the operator's reliance on look at the touchscreen.    -   recording and playback of the built-in video feed display is        extremely useful for both focus pullers, directors of        photography, directors, etc. For example, a focus puller could        easily assess the quality of the focus in the last ‘take’ or at        the end of a ‘shot’ or the end of the day.    -   touching an area of the video feed can select a node for        fucusing and/or control other equipment functions, like remote        head pointing, lighting, etc.    -   a sensor and transmitter can be placed inside free objects. For        example, a sensor and transmitter could be placed in a custom        basketball in a way that didn't affect the ball's mass or center        of mass, in order to focus on the ball during a basketball        game).    -   along with the ‘scene saving’ function that saves the state of        the app, a node manager can allow the operator to save groups of        like-nodes (e.g. all the parts of a car can be defined as nodes        and reloaded at any time in the future to re-use the same car or        to facilitate node creation for a new car).    -   equipment control events can be triggered (hardware and/or        software triggers) based on the coordinate position of a node.    -   many ‘intelligent’ uses of node data are possible. For example,        an indication can alert the operator when a node is nearing or        enters the camera's field of view (frame). In this example, a        node could be preprogrammed to automatically snap into focus        when it enters the frame.    -   the motion tracking data stream can be filtered using many        mathematical approaches. For example, noise in the data stream        can be quantified to determine when the data becomes suspect or        unusable. This data can be fed into the ‘Manual Overrides and        Automatic Handoff’ software functions. Many filters can also be        applied to the data stream to control the level of dampening,        etc.    -   when the node sequencer is in ‘neutral’, the 2 (line), 3        (triangle), or 4 (square) geometry nodes are all set to a green        colour. This way when the sequencer is put into ‘forward’ or        ‘reverse’, the next node will be outside of the 2, 3, or 4        group, and the next logical node in the sequence will become the        sole green node.    -   a software function can allow the operator to quickly correct        for slight errors in a node's tip offset by viewing the node        through the camera and then manipulating the focus fine adjust        function until the node is focused sharply. At this moment, the        operator can trigger the system to automatically recalculate the        node's tip offset (via quaternion calculations).    -   pre-recorded motion tracking data (e.g. earthquake movements)        can be fed into the system to move camera and equipment in order        to mimic the pre-recorded movements. This technique may heighten        an audience's ‘natural experience’ (e.g. earthquake movements,        vehicle in rough terrain, etc.).    -   specific (and difficult) predefined equipment actions can be        automated and/or facilitated (e.g. a Hitchcock zoom using a        handheld camera, a camera rotating in sync with a trapeze        artist, etc.).    -   effects relating to music content are possible including        feedback loops (e.g. focus in and out in time with the beat of a        song or camera position/pointing in relation to a beat,        including live performance).    -   the entire system can be ‘scriptable’ so that any user        interactions with software can be recorded and automated.    -   various accessories can be used for sensor placement on objects.        For example, sensors can be placed in straps to put on an        actors, or can be snapped into on various mounts for easy        placement/attachment.    -   the source setup function can include a 3D modular source        building function for setups that use the modular pole-connected        source system accessory. In this function the operator can        quickly build a 3D representation of the modular setup they have        manually constructed. The software can then instantly calculate        the position and orientation of all sources, since the lengths        of the poles and angles of the sources are predefined by way of        the physical design of the modular source system accessory.    -   for the modular source system, connecting poles can be taken        away after setup without moving the sources. This allows for        quick, non-tethered source placement without the need to measure        source position or orientation, as these are calculated in the        iPad app's 3D modular source building function.    -   along with servo motor control of lens rings, the internal        electronics of certain camera lenses can be accessed to directly        control focus, aperture, zoom, removing the servo motor        requirement.    -   the system software allows for complete control of the        configuration of the motion tracking system.    -   an accessory is a sensor calibration ‘body cap’ tool that would        fit onto the lens mount of cameras for a precise measurement.        This would allow for very precise measurement of the focal plane        centre which is important for visual effects work because it        makes the camera data “nodal”.

Embodiments of the present invention are advantageous in that using areal-time stream of three-dimensional position and orientation data toadjust lens functions, composition, camera positioning, lighting, andsound greatly facilitates and expands on the functionalities availableto film makers and moving and/or still image content creators.

The use of nodes in the context of cinematic control, in accordance withembodiments of the present invention, present numerous advantagesincluding:

1) The node system allows for predefining multiple moving nodes(virtually all other camera/focus systems don't, but PictorvisionEclipse does use GPS for a coarser applicationhttp://www.pictorvision.com/aerial-products/eclipse/).

2) The node system allows for true auto-tracking of multiple movingnodes (possibly all other camera/focus systems don't; some make anattempt by having a human do the tracking; Pictorvision Eclipse may haveonly one moving node; an example a “true auto-tracker” for lightingmight be: http://www.tfwm.com/news-0310precision).

3) The node system provides three-dimensional positional data (asopposed to distance which is far less useful, unlike almost all othersystems).

4) A property of the nodes used is position and orientation, allowing todefine points on subjects/objects instead of general ‘areas’ (unlikepossibly all other camera/focus systems; without this, other systemscannot apply offsets to define a node anywhere on an object, e.g.focusing on eyes).

5) Position and orientation allow for tying control to subject/objectangles e.g. switch from an actor's right eye to their left eye whentheir head is at a certain angle to camera (no other system can dothis).

6) The node system provides extremely high accuracy (less than 1 cm inmany situations) unlike possibly all other auto-tracking systems (thanksto orientation and offsets providing an increased level ofcontrol/focus).

7) The node system further provides extremely high frequency (120 Hz)unlike possibly all other auto-tracking systems (e.g. gps systems,active face detection likely don't have this).

8) The node system further provides is low latency (10 ms). This levelof latency doesn't inhibit ‘cinematic’ control for most situations(again, many systems lack this).

9) The node system provides predictive/corrective functions,considerably reducing latency.

10) The node system requires no ‘line of sight’ requirement, i.e. thenodes use sensors placed on the actor/object so a laser or sound wavedoesn't have to bounce off the actor. Facial recognition also requiresline of sight obviously. Another benefit of sensors in this regards isconstant node data. For example, if an actor jumps out from behind abush, he/she is already ‘instantly’ in focus as opposed to line of sightsystems that have to react to the new presence of the actor.

11) The node system continues to function in a moving environment. Forexample, if a source is mounted to a handheld camera system (or is usedwith the source boom pole accessory), the system continues to functionin the vicinity of the camera operator no matter where he/she walks.Similarly, the system works in a moving vehicle, for example on a movingtrain.

12) Moreover, the node system is a portable system.

The above-described embodiments are considered in all respect only asillustrative and not restrictive, and the present application isintended to cover any adaptations or variations thereof, as apparent toa person skilled in the art. Of course, numerous other modificationscould be made to the above-described embodiments without departing fromthe scope of the invention, as apparent to a person skilled in the art.

The invention claimed is:
 1. A system for controlling a setting of anequipment related to image capture, comprising: a sensing deviceconfigured to capture position data and orientation data located at afirst location on an object, the three-dimensional position data andorientation data representing a physical location and an orientation ofthe first location on the object; a processor being in communicationwith the sensing device, the processor being configured to determineposition information of a region of interest to be treated by theequipment from the position data and orientation data captured by thesensing device based on a predetermined positional offset of the regionof interest from the first location on the object, the region ofinterest and first location on the object being located at differentlocations; and an output port integrated with the processor, configuredto output a control signal directed to the equipment, in order tocontrol in real-time the setting of the equipment based on said positioninformation of the region of interest; and wherein the object is ahuman; wherein the first location is a first body part of the humanbeing located on the back of the human; and wherein the second locationis a second body part of the human being a facial feature of the human.2. A system according to claim 1, further comprising: a controller beingin communication with the output port and being configured to controlthe setting of the equipment with said control signal.
 3. A systemaccording to claim 1, further comprising said equipment, wherein thesetting comprises at least one of: a focus setting of a camera, a zoomsetting of the camera, an aperture setting of the camera, an interocular lens angle setting of the camera, a pan setting of the camera, atilt setting of the camera, a roll setting of the camera, a positionalsetting of the camera, a lighting equipment control setting, and a soundequipment setting.
 4. A system according to claim 1, wherein the sensingdevice is a visibility independent sensing device.
 5. A system accordingto claim 1, wherein the sensing device comprises a transmitter, thesystem further comprising a receiver being in communication between thetransmitter and the processor.
 6. The system of claim 1, wherein thefirst location is located on the back of the head of the human and thesecond location corresponds to an eye of the human.
 7. The system ofclaim 1, wherein the first location is located on the back of the neckof the human and the second location corresponds to an eye of the human.8. The system of claim 1, wherein the second location corresponds to oneof a left eye and a right eye of the human.
 9. The system of claim 1,wherein the equipment related to image capture is a camera; and whereinthe control signal directs the camera to focus on the second location.10. A system according to claim 1, further comprising a data processingunit embedding said processor and a user device being in communicationwith the data processing unit, the user device comprising a userinterface.
 11. A system according to claim 10, wherein the user deviceis in communication with the data processing unit over a wirelesscommunication network.
 12. A non-transitory computer-readable storagehaving stored thereon data and instructions for execution by a computerfor controlling a setting of an equipment related to image capture, saiddata and instructions comprising: code means for receiving position dataand orientation data of a sensing device located at a first location onan object, the three-dimensional position data and orientation datarepresenting a physical location and an orientation of the firstlocation on the object; code means for determining position informationof a region of interest to be treated by the equipment from the positionand orientation data captured by the sensing device based on apredetermined positional offset of the region of interest from the firstlocation on the object, the region of interest and the first location onthe object being located at different locations on the object; and codemeans for outputting a control signal directed to the equipment, inorder to control in real-time the setting of the equipment based on saidposition information of the region of interest; and wherein the objectis a human; wherein the first location is a first body part of the humanbeing located on the back of the human; and wherein the second locationis a second body part of the human being a facial feature of the human.13. A method for controlling a setting of an equipment related to imagecapture, comprising: a) capturing three-dimensional position data andorientation data at a sensing device located at a first location on anobject, the three-dimensional position data and orientation datarepresenting a physical location and an orientation of the firstlocation on the object; b. determining, by means of a processor,position information of a region of interest to be treated by theequipment from the position data and orientation data having beencaptured based on a predetermined positional offset of the region ofinterest from the first location on the object, the region of interestand the first location on the object being located at differentlocations; and c. outputting, via an output port of the processor, acontrol signal directed to the equipment, in order to control inreal-time the setting of the equipment based on said positioninformation of the region of interest; and wherein the object is ahuman; wherein the first location is a first body part of the humanbeing located on the back of the human; and wherein the second locationis a second body part of the human being a facial feature of the human.14. A method according to claim 13, further comprising: a) controlling,by means of a controller, said setting of the equipment with saidcontrol signal.
 15. A method according to claim 13, wherein the settingcomprises at least one of: a focus setting of a camera, a zoom settingof the camera, an aperture setting of the camera, an inter ocular lensangle setting of the camera, a pan setting of the camera, a tilt settingof the camera, a roll setting of the camera, a positional setting of thecamera, a positional setting of the camera, a lighting equipment controlsetting, and a sound equipment setting.
 16. The method of claim 13,wherein the first location is located on the back of the head of thehuman and the second location corresponds to an eye of the human. 17.The method of claim 13, wherein the first location is located on theback of the neck of the human and the second location corresponds to aneye of the human.
 18. The method of claim 13, wherein the secondlocation corresponds to one of a left eye and a right eye of the human.19. The method of claim 13, wherein the equipment related to imagecapture is a camera; and wherein the control signal directs the camerato focus on the second location.
 20. A method according to claim 13,wherein the region of interest of the determining step (b) includes oneor more node, the determining step (b) comprising, for each node: i)determining position information of said node; and ii) calculating adistance between the equipment and the node, and wherein the controlsignal of the outputting step (c) is generated based on the distancecalculated at step (b).
 21. A method according to claim 20, wherein theposition information of each node in the determining step (b)(i)comprises Euclidean space coordinates of the node (x₁,y₁,z₁), andwherein the calculating step (b)(ii) comprises: receiving positioninformation of the equipment in Euclidean space coordinates (x₂,y₂,z₂);and calculating the distance between the position information of theequipment and the position information of the node from the followingPythagorean theorem:distance=√{square root over ((x ₁ −x ₂)²+(y ₁ −y ₂)²+(z ₁ −z ₂)²)}. 22.A method according to claim 21, wherein the determining step (b)(i)comprises applying a tip offset from the position data and orientationdata of the sensing device of the capturing step (a), in order tocalculate the position information of the node; wherein said applyingthe tip offset comprises: obtaining relative coordinates of the noderelative to the position data and orientation data of the sensingdevice, within an axis system defined by the sensing device; and whereinthe determining step (b)(i) further comprises evaluating an absoluteposition of the node in relation to the equipment.
 23. A methodaccording to claim 22, wherein the absolute position of the node isevaluated as follows: $M = {\begin{matrix}{CE} & {- {CF}} & {- D} \\{{- {BDE}} + {AF}} & {{BDF} + {AE}} & {- {BC}} \\{{ADE} + {BF}} & {{- {ADF}} + {BE}} & {AC}\end{matrix}}$ where: rotation matrix M=X.Y.Z where M is the finalrotation; matrix, and X,Y,Z are individual rotation matrices; A,B arethe cosine and sine, respectively, of the X-axis rotation axis, i.e.roll; C,D are the cosine and sine, respectively, of the Y-axis rotationaxis, i.e. tilt; E,F are the cosine and sine, respectively, of theZ-axis rotation axis, i.e. pan;X _(f) =X _(s) +X _(t) *M(1,1)+Yt*M(2,1)+Zt*M(3,1);Y _(f) =Y _(s) +X _(t) *M(1,2)+Yt*M(2,2)+Zt*M(3,2);Z _(f)=4+X _(t) *M(1,3)+Yt*M(2,3)+Zt*M(3,3); where: X_(t),Y_(t),Z_(t)are absolute (or “final”) coordinates of the node; X_(s),Y_(s),Z_(s) arecoordinates of the sensing device's center; X_(t),Y_(t),Z_(t) correspondto coordinates of the tip offset relative to the sensing device'scenter; M(row,column) are elements of the rotation matrix in terms ofrow and column, respectively.
 24. A method according to claim 22,wherein said applying the tip offset comprises obtaining a tip offsethaving been precalculated by measuring a position of a node sensingdevice located at a position of the node, in relation to a position andorientation of a base sensing device located at a position of saidsensing device.
 25. A method according to claim 24, wherein the initialorientation is defined as quaternion Q₁ with X, Y, Z, and W attributes,the orientation data of the capturing step is defined as Q₂, and whereinthe position information of the node is determined according to:P _(n)+(q _(i) q _(n))P _(i)(q _(i) q _(n)) where: P_(i) is the offsetfrom the sensor at orientation q; P_(n) is the current position of thesensor; q_(i) is the orientation of the sensor at the time P_(i) iscalculated; q_(n) is the current orientation of the sensor; and q_(i)and q_(n) are unit quaternions.
 26. A method for controlling a settingof an equipment related to image capture, comprising: a) capturingthree-dimensional position data and orientation data at a sensing devicelocated at a first location on an object, the three-dimensional positiondata and orientation data representing a physical location and anorientation of the first location on the object; b) determining, bymeans of a processor, position information of a region of interest to betreated by the equipment from the position data and orientation datahaving been captured based on a predetermined positional offset of theregion of interest from the first location on the object, the region ofinterest and the first location on the object being located at differentlocations; and c) outputting, via an output port of the processor, acontrol signal directed to the equipment, in order to control inreal-time the setting of the equipment based on said positioninformation of the region of interest; and wherein the object is ahuman; wherein the sensing device located at the first location ishidden on the body of the human; and wherein the second location is abody part of the human being a facial feature of the human.